外文资料翻译-铲运机英文资料文献

铲运机英文资料文献ILITERATURE11INTRODUCTIONWITHINTHISDISSERTATIONTHEFIELDOFCONTROLSYSTEMSANDTHEIRIMPLEMENTATIONTOEXISTINGRIM,METHODOLOGYANDTHEGENERALOVERVIEWOFTHECONDUCTEDRESEARCH,DESIGNANDCOBOTSWILLBEEXAMINEDANDFINALLYCARRIEDOUTTHISCHAPTERWILLOUTLINEANDDISCUSSTHECONSTRUCTIONSOFTHECONTROLSYSTEMS12PROJECTAIMTHEAIMOFTHISPROJECTISTOINVESTIGATESUITABLECONTROLSTRATEGIESFORTHEMANEUVERINGOFALOADHAULDUMPLHDUNITWITHINTHECONFINESOFAMINEFURTHERRESEARCHISTOBEDONESPECIFICALLYONATALEOPERATIONALANDFULLYAUTOMATEDCONTROLSYSTEMTOINVESTIGATEWHATWOULDBEREQUIREDTOIMPLEMENTSUCHASYSTEMTOALHDUNITDUETOTHETALEOPERATIONALSYSTEMREQUIRINGTHEUSEOFACAMERA,THEAUTOMATEDSYSTEMWILLALSOUTILIZESTHISTOOLBYUSINGMACHINEVISIONASITSGUIDANCESYSTEMTHECOREOFTHISPROJECTWILLTHENBETHEIMPLEMENTATIONOFTHESETWOCONTROLSYSTEMSTOANEXISTINGSCALEMODELOFALHDUNIT13METHODOLOGYTHEFOLLOWINGSTEPSARETHEWAYINWHICHTHISPROJECTWILLBEUNDERTAKENALLOFTHESEWILLBECONDUCTEDUNDERTHESUPERVISIONOFAPROFESSIONALENGINEERWHOWILLASSISTWITHGUIDANCEANDPROVIDESOMETECHNICALINFORMATIONANDADVICE14CONCLUSIONTHISCHAPTERHASINTRODUCEDTHEPROJECTATHANDIMPLEMENTINGATELEOPERATEDANDAUTOMATEDCONTROLSYSTEMTOANALREADYCONSTRUCTEDLHDMODELUNITDISCUSSEDINTHENEXTCHAPTERISBENEFICIALBACKGROUNDINFORMATIONWHICHWILLFORMTHEBASISFORLATTERSECTIONSOFTHISREPORT15LHDMODELANALYSISANALYSESTHEALREADYCONSTRUCTEDLHDMODELTOASCERTAINHOWITALLOPERATES,ASWELLASTHEMECHANICAL,ELECTRICALANDCONTROLFEATURESTHISINFORMATIONWASGATHEREDBYEXPERIMENTINGWITHITANDTESTINGITSBOUNDARIESTHEFOLLOWINGCOULDTHENBEDETERMINEDWHETHERTHEEXISTINGMECHANICALFEATURES,CIRCUITRYANDPROGRAMMINGAREAPPROPRIATEFORMYPROJECTWHATEQUIPMENT,COMPONENTSORPROGRAMMINGNEEDSTOBEREDESIGNEDTOALLOWTHEUNITTOBETALEOPERATEDANDAUTOMATED16MODELINGREVIEWANAPPROPRIATEMODELINGTECHNIQUEFORTHELHDUNIT,CHOOSEAPPROPRIATESTATEVARIABLESANDDERIVEANALGEBRAICEQUATIONFORTHECONTROLOFTHEUNITTHISWILLBEDONEBYRESEARCHINGDIFFERENTMODELINGMETHODSTHROUGHDATABASES,LIBRARIESANDPREVIOUSENGINEERINGRELATEDSTUDYSIMULATIONISUSEDTOTESTTHESE,ANDTOVERIFYTHEUNITWILLACTHOWONEWOULDEXPECTITTOACCORDINGTOVARIOUSINPUTSTHISSIMULATIONWILLBECONDUCTEDUSINGMICROSOFTVISUALBASIC6017PROGRAMMINGCONSTRUCTTHECOMMUNICATIONPROGRAMSFORTHEUNITTORUNTALEOPERATEDANDAUTOMATEDTHISPROGRAMWILLALSOBECODEDUSINGMICROSOFTVISUALBASIC60,ANDWILLINCLUDEFUNCTIONSTODOALLOFTHEFOLLOWINGRECEIVETHEVISUALFROMTHEUNITTOTHECOMPUTERINSTRUCTTHEUNITWHATDIRECTIONITSHOULDGOFARTALEOPERATIONAL,ORDETECTTHEWALLSOFTHETUNNELANDMOVEACCORDINGLYFORAUTOMATED18TESTINGFINALLY,THELHDUNITWILLBEPHYSICALLYTESTEDTOENSUREITWILLOPERATECORRECTLYFORBOTHOFTHECONTROLSTRATEGIESTHISWILLBEDONEBYPUTTINGTOGETHERASIMULATEDTUNNELFORTHEUNITTOMANEUVERSITSWAYTHROUGHWITHOUTENCOUNTERINGANYCOLLISIONS19CONCLUSIONTHISCHAPTERHASINTRODUCEDTHEPROJECTATHAND,IMPLEMENTINGATALEOPERATEDANDAUTOMATEDCONTROLSYSTEMTOANALREADYCONSTRUCTEDLHDMODELUNITIILOADHAULDUMPUNITS21INTRODUCTIONTHISCHAPTERWILLREVIEWLITERATURETOESTABLISHTHENEEDFORASUITABLECONTROLSTRATEGYFORTHEWIDELYUSEDLOADHAULDUMPLHDUNITAFTERRESEARCHINGANDGATHERINGTHERELEVANTBACKGROUNDINFORMATIONAPPROPRIATEFORTHISPROJECT,ITISTHENPOSSIBLETOIMPLEMENTTHESESTRATEGIESTOANACTUALMODELLHDUNIT22LOADHAULDUMPUNITSTHELOADHAULDUMPLHDUNITISUSEDEXTENSIVELYINUNDERGROUNDMININGTOPERFORMAVARIETYOFTASKSWITHINTHISFIELDALTHOUGHTHEIRMAINROLEISTORETURNANDTRANSPORTTHEMINESOREFROMTHEPOINTOFCUTTINGTOEITHERDUMPINGPOINTS,HAULAGETRUCKSORCRUSHINGSTATIONTYSONTHEUNDERGROUNDMININGENVIRONMENTISEXTREMELYDANGEROUSWHERESOMELHDACCIDENTSHAVECAUSEDMAJORINJURYANDOCCASIONALDEATHSTOTHEOPERATORSONBOARDTHESEVEHICLESASWELLASOTHERMININGCREWTHESEVEHICLESMUSTBEABLETOTRAVELTHROUGHNARROWWINDINGTUNNELSWHICHHAVEHIGHTEMPERATURES,DUSTYANDDIRTYCONDITIONSASWELLASWITHSTANDINGTHEOCCASIONALCOLLISIONWITHTHEWALLSOFTHETUNNELTYPICALLHDUNITS,ASSHOWNINFIGURE11,AREEITHERDIESELORELECTRICPOWERED,RUNNINGONFOURSOLIDRUBBERTIRESANDNOSUSPENSIONTHEYAREMADEUPOFANARTICULATEDBODYWITHTHETWOSECTIONCONNECTEDBYAKINGPINHITCHTHATCANPIVOTTHISARTICULATEDSETUPUSESTWOHYDRAULICACTUATORSTOPROVIDETHESTEERINGFORTHEUNITWHICHPROVIDESEXCELLENTCURVENEGOTIATIONWITHINTHETIGHTWINDINGTUNNELSFIGURE11LOADHAULDUMPUNITSOURCEDUNN,P2004,WWWMIRARCOORG/PROJECTSMTPHPTHETWOSECTIONSOFTHEUNITBOTHHAVEASINGLEAXLEWITHNONSTEERABLEWHEELS,THEFRONTSECTIONCONTAINSTHEBUCKETORSCOOP,ANDTHEBACKSECTIONCONTAINSTHEENGINETHEPROFILEOFTHEVEHICLECOMPLIESWITHTHECROSSSECTIONOFTHEMININGTUNNELSTHEYAREUSEDIN,THISMEANSTHEYARELONG,LOWANDRELATIVELYWIDECOMPAREDTOTHEIRHEIGHTTYSONND23CONTROLSTRATEGIESACONTROLSYSTEMIMPLEMENTEDONTOALHDUNITWOULDBEIDEALFORTHEDANGEROUSMINEENVIRONMENTSINWHICHTHEYOPERATE,ALTHOUGHWOULDPROVETOBEDIFFICULTDUETOTHEROUGH,UNPREDICTABLESTATEOFTHEMINESSTENTS2001STATEDTHATASEMIAUTOMATEDSYSTEMWOULDPROMOTEFEATURESSUCHASINCREASEDPRODUCTIVITY,REDUCEDOPERATIONALCOSTSANDIMPROVEDSAFETYTHEREISAWIDERANGEOFDIFFERENTCONTROLSTRATEGIESTHATCOULDBEIMPLEMENTEDONTOALHDUNITTHETWOMAINCATEGORIESOFTHESEAREEITHERINFRASTRUCTUREASSISTEDGUIDANCEORANINDEPENDENTVEHICLESTRATEGYTHATREQUIREDNOINFRASTRUCTURECONSTRUCTIONORMODIFYINGOFTHETUNNELSBILLINGSLEY1997,P3THEADVANTAGEOFTHEINDEPENDENTVEHICLECONTROLSTRATEGYISTHATSINCENOCHANGESNEEDTOBEMADETOTHEPHYSICALTUNNELOFTHEMINETHELHDUNITISBEINGUSEDIN,THEVEHICLECANBEUSEDINANYMINEATANYTIMETHEFOURMAINCONTROLSTRATEGIESTHATWEREANALYZEDANDCOMPAREDREGARDINGTHELHDUNITWEREMANUALOPERATION,REMOTECONTROL,TALEOPERATIONALANDFULLYAUTOMATED231MANUALOPERATIONMANUALOPERATIONISCURRENTLYTHEMOSTCOMMONSTRATEGYUSEDINTHEMININGINDUSTRY,WHEREADRIVERISONBOARDTHELHDUNITATALLTIMESPOSITIONEDINACLOSEDCABINTHECABINISPOSITIONEDPERPENDICULARTOTHEDIRECTIONOFTRAVELFORVIEWINGWHERETHEVEHICLEISGOINGINTHEFORWARDANDBACKWARDDIRECTIONTHEMAINDISADVANTAGETOTHISOPERATINGMETHODISTHECONCERNOFTHEDRIVERSSAFETY,DRIVERFATIGUEANDBASICHUMANERRORTHEADVANTAGETOTHISMETHOD,COMPAREDTOREMOTECONTROLANDTALEOPERATIONALMETHODSISTHATTHEUNITCANTRAVELMUCHFASTERTHROUGHTHETUNNELSASTHEOPERATORISONBOARD,THISISDUETOREMOTESENSORYPERCEPTIONROBERTETAL2000232REMOTECONTROLAREMOTECONTROLVEHICLEMEANSTHATTHEOPERATORISOUTANDDISTANCEDFROMTHEMACHINEBUTSTILLINTHELINEOFSIGHTOFTHEUNITTOCONTROLITVIAAREMOTECONTROLTRANSMITTERTHEADVANTAGETOTHISSYSTEMISTHATTHEOPERATORISLOCATEDAWAYFROMTHEIMMEDIATEDANGERTHELHDWOULDOTHERWISEPUTANONBOARDDRIVERINSAYINGTHIS,THEREISSTILLTHERISKOFINJURYANDACCIDENTSDUETOTHELINEOFSIGHTRULEANDTHEREISSTILLTHECONCERNOFDRIVERFATIGUEANDHUMANERRORTHEDISADVANTAGETOTHISSYSTEMISTHATTHEDRIVERISNOTINANYTYPEOFCABINAREAANDSINCETHEYMUSTBEINLINEOFSIGHTOFTHEVEHICLEATALLTIMESITUSUALLYREQUIRESTHEMTOSTANDWHILECONTROLLINGTHEUNITCONSEQUENTLYTHEREISSTILLTHERISKOFINJURYWITHDRIVERFATIGUEANDHUMANERRORSTILLACONCERN233TELEOPERATEDCONTROLATALEOPERATEDCONTROLSYSTEMISSIMILARTOAREMOTECONTROLLEDSYSTEM,WHERETHEOPERATORISSTILLINFULLCONTROLOFTHEVEHICLEATALLTIMESBUTTHEREISGREATERDISTANCEBETWEENTHEOPERATORANDTHEDEVICETHEOPERATORCANBESAFEANDCOMFORTABLEABOVEGROUNDCONTROLLINGTHEVEHICLEBYANOPERATORINTERFACETHISINTERFACECONSISTSOFTWOBASICCOMPONENTSTHEVISIONSYSTEMANDCONTROLPANELTHEMAINDISADVANTAGETOTHISCONTROLSYSTEMISTHATTHEVEHICLEISNOTABLETOBEDRIVENASFASTASWHATCOULDBEACHIEVEDWITHADRIVERACTUALLYONBOARDTHEUNITTHISISDUETOTHELIMITEDREMOTESENSORYPERCEPTIONROBERTETAL2000234FULLYAUTOMATEDCONTROLANAUTOMATEDSYSTEMMEANSTHEOPERATORISSTILLABOVEGROUND,BUTHEISPLAYINGASUPERVISORYROLETOTHESYSTEM,HENCETHEYARESTILLREMOTEFROMTHEDANGERWITHINTHEMINETHEREAREANUMBEROFWAYSTOIMPLEMENTANAUTOMATEDSYSTEMTHEMOSTCOMMONINCLUDEMACHINEVISION,SENSORSANDRECEIVERS,ANDGPSTHESEWILLBECOVEREDLATERTHEMAINADVANTAGETOTHISSYSTEMISTHATSINCETHEVEHICLEISCAPABLEOFAUTONOMOUSSTEERINGTHROUGHOUTTHEUNDERGROUNDTUNNELS,THELHDUNITCANTRAVELATAGREATERSPEED,HENCEIMPROVINGPRODUCTIVITYWHILSTSTILLMAINTAININGASAFEENVIRONMENT25MACHINEVISIONMACHINEVISIONISTHEACQUIRINGANDPROCESSINGOFANIMAGEANDTHENTHEDECIPHERINGOFINFORMATIONPRESENTEDINTHEIMAGEFORCONTROLLINGASPECIFICPURPOSEITUSESDIGITALCAMERAS,IMAGEPROCESSINGSOFTWAREANDRELEVANTCOMMUNICATIONBETWEENDIGITALINPUT/OUTPUTDEVICESOFTHESYSTEMITISCONTROLLINGTHEKEYCHARACTERISTICSOFANYSTANDARDMACHINEVISIONSYSTEMISADIGITALCAMERAWITHACAMERAINTERFACEPROGRAMWHICHCAPTURESTHECAMERASIMAGEANDCONVERTSTHEIMAGEINTOANARRAYOFNUMBERSTHISARRAYREPRESENTSTHEPIXELSOFTHEIMAGEANDTHEIMAGEISTHENMANIPULATEDORANALYZEDBYCOMPUTERSOFTWAREDEPENDINGONTHEAPPLICATIONOFTHESYSTEM26MODELINGTOSUCCESSFULLYDESIGNACONTROLSYSTEMFORANYTYPEOFVEHICLEITISESSENTIALTOHAVEAMODELTHECANDESCRIBETHEVEHICLESPOSITION,ORIENTATIONANDOTHERIMPORTANTVEHICLEPARAMETERSATANYPOINTINTIMEASSTATEDBYRIDLEYANDCORKE2003,FORALHDUNITTHEBASICKINEMATICMODELISTHEMOSTAPPROPRIATEMODELINGMETHODFORTHEVEHICLE,ALTHOUGHTHISCANBEACHALLENGINGTASKDUETOTHEUNIQUEARTICULATEDSTRUCTUREOFTHEUNIT27CONCLUSIONTHISCHAPTERREVIEWEDLITERATUREANDESTABLISHEDACLEARVIEWOFTHELOADHAULDUMPLHDUNIT,THETYPEOFMODELINGTOBECONDUCTEDANDALSOABRIEFSUMMATIONONTHECONTROLSTRATEGIESTOBEIMPLEMENTEDTOTHEVEHICLE1文献11简介在本论文中，控制系统及其在现有机器上的实施领域将审议并最终执行。本章将概述和讨论研究的目的,方法和普遍概况,和控制系统的建设与设计。12项目目标这个项目的目的是为地下铲运机的机动性探讨适当的控制策略。进一步的研究工作将展开尤其是远程操作系统和完全自动化控制系统，调查在一个铲运机上实施这样一个系统需要什么。由于远程业务系统要求使用照相机，自动系统也将利用此工具，将机器视觉作为指导系统。这个项目的核心将是这两个控制系统在一个现有规模的铲运机模型上的实施。13方法下面的步骤是在本项目将采取的方式。所有步骤将在专业工程师监督协助指导下进行，并由他们提供一些技术资料和意见。相关文献于以下方面一个典型的铲运机的主要特征，以及他们需要做什么。自动化的实施。自动化可以实现什么自动铲运机对采矿业意味着什么这两个控制策略远程操作和自动化系统这些控制策略的优点和缺点是什么实施这些系统时将用到哪些设备和任务这是来源于检索数据库，图书馆和其他公共信息。14铲运机模型分析分析已经建成的铲运机模型来查明铲运机是如何操作的，如机械，电气和控制功能。这些资料是靠对它做试验和测试它的边界收集到的。下面可确定是否现有的机械特性，电路和编程适合我的项目。哪些设备，部件或编程需要重新设计才能实现机器的远程操作和自动化。15建模回顾一下适当的铲运机建模技术，为机器的控制选择适当的状态变量并得出一个代数方程。这项工作通过研究不同的建模方法来实施，其资源来自数据库，图书馆和以往工程相关研究。使用模拟技术测试，并核实该机器直到它能够依照各种输入来采取行动。这种模拟将采用微软的VISUALBASIC60。16程序设计为铲运机构建通讯方案用来运行远程操作和自动化。这个程序也被MICROSOFTVISUALBASIC60编码使用，并将包括以下所有功能从装置接收视觉信号并发送到计算机。指示机器应该朝什么方向走（最远距离操作），或者检测隧道的墙壁和相应地移动（自动化）17测试最后，铲运机将被检验，以确保它能在两种控制策略下正常运行。这项测试将铲运机放入一个模拟隧道中通过其演习行走而不遇到任何碰撞。18结论本章介绍了手头的项目，实施远程操作和自动化控制系统，一个已经建成铲运机模型。2地下铲运机21简介本章文献，为广泛使用的铲运机建立一个合适的控制策略。经过对这个项目的研究和有关背景资料的收集，则可能实施以一个实际的模型铲运机为单位的策略。22铲运机铲运机广泛用于矿山井下这个领域，执行多种任务。尽管他们的主要作用是往返和运输矿物于挖掘点和倾倒点之间，像托运卡车。地下开采的环境是极其危险的地方，有些铲运机事故会造成那些机器操者以及其他采矿人员的重伤，严重的会死亡。这些车辆必须能够穿过狭窄蜿蜒的隧道，隧道里温度很高，很脏，有很多灰尘，以及抵御和隧道壁的偶尔相撞偶尔。典型铲运机，如图11所示，用柴油或电力发动，支撑在四个实心橡胶轮胎上，没有间隙。它们是由一个铰接式机体组成，由一个主销栓连接两个部分。这种铰接式格局使用两个液压系统，为机器在曲折狭窄的隧道中转向提供良好的督导。该机器的两节都有一个装有不可操纵轮的轴，前面部分包铲斗或铲头，和后面的部分包含引擎。机器的外形必须符合它们工作的巷道，这意味着机器的外形较长，较宽，较矮。23控制策略一个控制系统安装到铲运机上是理想的，由于其工作在危险的煤矿环境中。但这是非常困难的，由于粗糙的，不可预知的环境。斯滕茨声称半自动化系统将促进生产力，如增加产量，降低运营成本，提高了安全性。在铲运机上有许多不同的控制策略可以实施。这些当中有两个主要的类别，分别是基础设施辅助和独立的整车战略，没有对基础设施或隧道修改上的要